// Exemplo de arquivo de descricao de cena para POV-ray
// Last edited on 2020-12-08 11:07:41 by jstolfi

#version 3.6;

// ======================================================================
// CORES E TEXTURAS

background{ color rgb < 0.75, 0.80, 0.85 > }

#declare tx_plastico = 
  texture{
    pigment{ color rgb < 0.10, 0.80, 1.00 > }
    finish{ diffuse 0.8 ambient 0.1 specular 0.5 roughness 0.005 }
  }

#declare tx_fosca = 
  texture{
    pigment{ color rgb < 0.300, 0.800, 0.400 > }
    finish{ diffuse 0.9  ambient 0.1 }
  }

#declare tx_vermelho = 
  texture{
    pigment{ color rgb < 1.00, 0.00, 0.00 > }
    finish{ diffuse 0.9 ambient 0.1 }
  }

#declare tx_verde = texture {
  pigment{ color rgb < 0.00, 1.00, 0.00 > }
  finish{ diffuse 0.9  ambient 0.1 }
  
}

// Defines


// ======================================================================
// Macros

#macro garra()
  union {
    object{box {
      <-0.5, -0.05, -0.5>, <0.5, 0.05, 0.5> // <x, y, z> near lower left corner, <x, y, z> far upper right corner
      
    }}
  }

#end

#macro mao(M1,M2)

  union {
    object{box {<-0.7, -0.1, -0.7>, <0.7, 0.1, 0.7> }}

    object{ garra() translate<0, 0, 0.5> rotate <-M1,0,0> translate <0, 0, 0.7>  }

    object{ garra() translate<0, 0, -0.5> rotate <M2,0,0> translate <0, 0, -0.7>  }
  }

#end

#macro antebraco(AR,AL,AF,M1,M2)

  union {
    object{cylinder {<-2, 0, 0>, <2, 0,0 >, 0.2 }}

    object{mao(M1,M2) translate<0.7,0,0> rotate<AR,AL,AF> translate <2, 0, 0> }
  }
#end

#macro braco(B,AR,AL,AF,M1,M2)

  union {
    object{cylinder {<-2, 0, 0>, <2, 0,0 >, 0.2 }}

    object{antebraco(AR,AL,AF,M1,M2) translate <2, 0, 0> rotate <0, 0, B> translate <2, 0, 0>  }
  }

#end

#macro corpo(BR,BL,BF,B,AR,AL,AF,M1,M2,EBR,EBL,EBF,EB,EAR,EAL,EAF,EM1,EM2)

  union {
    object{box {<-1, -1, -3>, <1, 1, 3>} }
    object{sphere {<0, 0, 0>, 1} translate <0, 0, 4>}

    object{braco(B,AR,AL,AF,M1,M2) translate <2, 0, 0> rotate<BR,BL,BF>  translate <1, 0, 1> }

    object{braco(EB,EAR,EAL,EAF,EM1,EM2) translate <2, 0, 0> rotate<EBR,EBL,EBF> scale <-1.0, 1.0, 1.0>  translate <-1, 0, 1> }
  }

#end

#macro interpola1(tt, tt0,tt1, vv0,vv1)

  #local rr = (tt - tt0)/(tt1 - tt0);
  #local vv = (1-rr)*vv0 + rr*vv1;
  vv;

#end

#macro robo_vet(vetor)

  union {
    object{corpo(vetor[0],vetor[1],vetor[2],vetor[3],vetor[4],vetor[5],vetor[6],vetor[7],vetor[8],vetor[9],vetor[10],vetor[11],vetor[12],vetor[13],vetor[14],vetor[15],vetor[16],vetor[17]) texture{ tx_fosca}}
  }

#end

#macro robo_mov(tt)

  #local vetor0 = array[18];
  #local vetor1 = array[18];
  #local vetorP = array[18];
  #local i = 0;

  #local vetor0[0] = 90;
  #local vetor0[1] = 60;
  #local vetor0[2] = 0;
  #local vetor0[3] = -20;
  #local vetor0[4] = 0;
  #local vetor0[5] = 0;
  #local vetor0[6] = 0;
  #local vetor0[7] = 0;
  #local vetor0[8] = 0;
  #local vetor0[9] = 90;
  #local vetor0[10] = 60;
  #local vetor0[11] = 0;
  #local vetor0[12] = -20;
  #local vetor0[13] = 0;
  #local vetor0[14] = 0;
  #local vetor0[15] = 0;
  #local vetor0[16] = 0;
  #local vetor0[17] = 0;

  #local vetor1[0] = 90;
  #local vetor1[1] = 0;
  #local vetor1[2] = 0;
  #local vetor1[3] = 90;
  #local vetor1[4] = 0;
  #local vetor1[5] = 0;
  #local vetor1[6] = -90;
  #local vetor1[7] = 0;
  #local vetor1[8] = 0;
  #local vetor1[9] = 45;
  #local vetor1[10] = 0;
  #local vetor1[11] = -90;
  #local vetor1[12] = -90;
  #local vetor1[13] = 0;
  #local vetor1[14] = 0;
  #local vetor1[15] = 0;
  #local vetor1[16] = -90;
  #local vetor1[17] = -90;

  #while ( i < 18)
    #local vetorP[i] = interpola1(tt,0,1,vetor0[i],vetor1[i])
    #local i = i + 1;
  #end

  union {
    object{ robo_vet(vetorP) }
  }

#end

// ======================================================================
// DESCRI��O DA CENA 

// Partes da cena:


#include "eixos.inc"

// Aqui est� a cena, finalmente:

union{
  object{ eixos(3.00) }

  #local kk = 0;
  #local nn = 12;
  #while (kk < nn)
    #local tt = kk/nn;
    #local ang = (0.8*tt + 0.6)*pi;
    object {robo_mov(tt) rotate 90*z translate 40 * < cos(ang), sin(ang), 0 > } 
    #local kk = kk+1;
  #end

}

#include "camlight.inc" 
#declare centro_cena = < -20.00, 3.00, 0.00 >;
#declare raio_cena = 40.0;
#declare dir_camera = < 10.00, -3.00, 8.00 >;
#declare dist_camera = 5*raio_cena;
#declare intens_luz = 1.20;
camlight(centro_cena, raio_cena, dir_camera, dist_camera , z, intens_luz)